/*
 * Copyright (c) 2011-2025, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/main/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
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 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
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 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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 */

/**
 * @file MyWindow.h
 * @author Can Erdogan
 * @date Feb 02, 2013
 * @brief Simple example of a skeleton created from scratch.
 */

#include "MyWindow.hpp"

void MyWindow::draw()
{
  glDisable(GL_LIGHTING);
  glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
  glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
  drawSkeleton(skel.get());
}

void MyWindow::keyboard(unsigned char _key, int _x, int _y)
{
  static bool inverse = false;
  static const double dDOF = 0.1;
  switch (_key) {
    case '-': {
      inverse = !inverse;
    } break;
    case '1':
    case '2':
    case '3': {
      std::size_t dofIdx = _key - 49;
      Eigen::VectorXd pose = skel->getPositions();
      pose(dofIdx) = pose(dofIdx) + (inverse ? -dDOF : dDOF);
      skel->setPositions(pose);
      std::cout << "Updated pose DOF " << dofIdx << ": " << pose.transpose()
                << std::endl;
      glutPostRedisplay();
    } break;
    default:
      Win3D::keyboard(_key, _x, _y);
  }
  glutPostRedisplay();
}
